CN109093597A - A kind of robot wrist structure - Google Patents
A kind of robot wrist structure Download PDFInfo
- Publication number
- CN109093597A CN109093597A CN201810968603.9A CN201810968603A CN109093597A CN 109093597 A CN109093597 A CN 109093597A CN 201810968603 A CN201810968603 A CN 201810968603A CN 109093597 A CN109093597 A CN 109093597A
- Authority
- CN
- China
- Prior art keywords
- fixture block
- pedestal
- platform
- inner end
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a kind of robot wrist structures, belong to robot field, including gripper and wrist, gripper includes discoidal pedestal, pedestal upper surface is equipped with several circumferential equally distributed sliding slots, and sliding slot is arranged radially along pedestal, and fixture block is slidably connected on sliding slot；Pedestal lower end surface is equipped with several circumferential equally distributed driving motors, driving motor and fixture block correspond, driving motor is connect by drag-line with the inner end of fixture block bottom, drag-line is elastic material, the outer rim of pedestal lower end surface is equipped with several circumferential equally distributed reset springs, reset spring and fixture block correspond, and the free end of reset spring is connect with the outer end of fixture block bottom, and pedestal lower end surface is equipped with interconnecting piece；Wrist is stewart platform, and stewart platform includes that flexural pivot is connected to fixed platform, six electric pushrods in movable platform respectively for fixed platform, movable platform and both ends.The present invention can either be adapted to the crawl of the object of various shape size, and can guarantee the flexibility in gripper direction.
Description
Technical field
The present invention relates to robot field, in particular to a kind of robot wrist structure.
Background technique
With the development of robot technology, the application field of robot is also more and more extensive, gradually enters household from industry
Field.As the substitution of manpower, the wrist of robot is particularly important, not only wants that most objects can be grabbed, cannot grab object
It is broken, also require the wrist of robot flexible enough.But the gripper of existing robot is then difficult to adapt to different shapes and sizes
Object is difficult to find that suitable crawl point in the process of grasping, is easy to appear the case where object is fallen during grabbing；Same opportunity
The gripper of device people is rigidly larger, during grabbing object, frequently appears in front of force feedback system is made a response and captures object
The case where；And the wrist flexibility of existing robot is poor, degree of regulation is inadequate.
Summary of the invention
It is difficult to adapt to the object of different shapes and sizes for the wrist structure of robot of the existing technology, is easy to grab
The problem of broken object and flexibility deficiency, the purpose of the present invention is to provide a kind of robot wrist structures.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of robot wrist structure, including gripper and wrist, the gripper include discoidal pedestal, pedestal upper surface
Equipped with several circumferential equally distributed sliding slots, sliding slot runs through the upper and lower end face of pedestal, and sliding slot is set along the radial direction of pedestal
It sets, fixture block is slidably connected on sliding slot；Pedestal lower end surface is equipped with several circumferential equally distributed driving motors, driving motor with
Fixture block corresponds, and driving motor is connect by drag-line with the inner end of fixture block bottom, and drag-line is elastic material, pedestal lower end surface
Outer rim is equipped with several circumferential equally distributed reset springs, and reset spring and fixture block correspond, the free end of reset spring
It is connect with the outer end of fixture block bottom, interconnecting piece is equipped at the center of pedestal lower end surface, the inner end on the top of fixture block is equipped with pressure sensing
Device；The wrist be stewart platform, the stewart platform include the fixed platform being fixedly connected on robot arm,
Flexural pivot is connected to fixed platform, six in movable platform respectively for the movable platform for being fixedly connected on interconnecting piece free end and both ends
Electric pushrod.
Preferably, the movable platform, fixed platform on set hinged seat there are three distribution in equilateral triangle, activity
The installation site of the hinged seat on hinged seat and fixed platform on platform is interlocked two-by-two；Each hinged seat be all connected with two it is electronic
Push rod.
Further, the lower end surface of the pedestal is equipped with controller, the controller and driving motor, pressure sensor,
Electric pushrod electrical connection.
Further, the inner end of the fixture block is laid with buffer layer, and the buffer layer is rubber, silica gel or sponge.
Preferably, the inner end of the fixture block is arc, the axis of the axis of the arc perpendicular to pedestal.
Another preferred, the inner end of the fixture block is arc, and the axis of the arc is parallel to the axis of pedestal.
Another preferred, the inner end of the fixture block is plane, and the plane is perpendicular to sliding slot.
By adopting the above technical scheme, due to the setting of the drag-line of elastic material, when so that fixture block clamping object, object receiving force
Be it is linearly increasing, will not instantaneous breakdown, stop abundant reflecting time to force feedback system；The setting of the fixture block of independently moving,
When so that driving motor operating, guarantee that the object of different shapes and sizes can be clamped among fixture block automatically, without seeking
Look for claming angle, orientation；Stewart platform then have rigidity is big, bearing capacity is strong, location error is not accumulative, activity space is small,
The high feature of flexibility.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the top view of robot wrist structure shown in Fig. 1.
In figure: 1- pedestal, 2- sliding slot, 3- fixture block, 4- driving motor, 5- drag-line, 6- reset spring, 7- spring mounting plate,
8- buffer layer, 9- interconnecting piece, 10- fixed platform, 11- movable platform, 12- electric pushrod, 13- hinged seat.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1 and Figure 2, a kind of robot wrist structure, including grabbing the gripper of object and the wrist of control gripper,
Gripper includes discoidal pedestal 1, and the upper surface of pedestal 1 is equipped with several circumferential equally distributed sliding slots 2, the top of sliding slot 2,
Bottom end extends through the upper and lower end face of pedestal 1, and sliding slot 2 is arranged along the radial direction of pedestal 1, slidably connects fixture block on sliding slot 2
3, the inner end of fixture block 3 is axis perpendicular to the arc that the arc of pedestal 1 or the inner end of fixture block 3 are that axis is parallel to pedestal 1,
Or the inner end of fixture block 3 is the plane perpendicular to sliding slot 2；
1 lower end surface of pedestal is equipped with several circumferential equally distributed driving motors 4, and driving motor 4 and fixture block 3 one are a pair of
It answers, the drag-line 5 made of elastic material of driving motor 4 is connect with the inner end of 3 bottom of fixture block, and the outer rim of 2 lower end surface of pedestal is set
There are several circumferential equally distributed reset springs 6, reset spring 6 and fixture block 3 correspond, and one end of reset spring 6 passes through
Spring mounting plate 7 is connect with pedestal 1, the outer end of 3 bottom of free end and fixture block connects；The inner end on the top of fixture block 3 is equipped with pressure
Sensor, the inner end of fixture block 3 are equipped with the buffer layer 8 of rubber, silica gel or sponge material；The company of being equipped at 1 lower end surface center of pedestal
Socket part 9, several driving motors 4 are uniformly distributed around interconnecting piece 9.
In the present embodiment, wrist is stewart platform, and stewart platform includes being fixedly connected on robot arm
Fixed platform 10, the movable platform 11 for being fixedly connected on 9 free end of interconnecting piece and both ends respectively flexural pivot be connected to fixed platform 10,
Six electric pushrods 12 in movable platform 11, in the present embodiment, stewart platform is Six Degree-of-Freedom Parallel Platform, specifically,
Movable platform 11, fixed platform 10 on set hinged seat 13 there are three distribution in equilateral triangle, the hinge in movable platform 11
Joint chair 13 and the installation site of the hinged seat 13 in fixed platform 10 are interlocked two-by-two；Each hinged seat 13 is all connected with two and electronic pushes away
Bar 12；
The lower end surface of pedestal 1 is equipped with controller, and controller is electrically connected with driving motor 4, pressure sensor, electric pushrod 12
It connects.
Due to the setting of the drag-line 5 of elastic material, when so that fixture block 3 clamping object, object receiving force be it is linearly increasing, no
Meeting instantaneous breakdown, stops abundant reflecting time to force feedback system；The setting of the fixture block 3 of independently moving, so that driving motor 4 is transported
When turning, guarantee that the object of different shapes and sizes can be clamped in the centre of fixture block 3 automatically, without find claming angle,
Orientation；The stewart platform of six degree of freedom then have rigidity is big, bearing capacity is strong, location error is not accumulative, activity space is small,
The high feature of flexibility, can guarantee the flexible of gripper.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (7)
1. a kind of robot wrist structure, it is characterised in that: including gripper and wrist, the gripper includes discoidal pedestal,
Pedestal upper surface is equipped with several circumferential equally distributed sliding slots, and sliding slot runs through the upper and lower end face of pedestal, diameter of the sliding slot along pedestal
It is arranged to direction, slidably connects fixture block on sliding slot；Pedestal lower end surface is equipped with several circumferential equally distributed driving motors, drives
Dynamic motor and fixture block correspond, and driving motor is connect by drag-line with the inner end of fixture block bottom, and drag-line is elastic material, pedestal
The outer rim of lower end surface is equipped with several circumferential equally distributed reset springs, and reset spring and fixture block correspond, reset spring
Free end connect with the outer end of fixture block bottom, at the center of pedestal lower end surface be equipped with interconnecting piece, the inner end on the top of fixture block is equipped with
Pressure sensor；The wrist is stewart platform, and the stewart platform includes being fixedly connected on robot arm
Flexural pivot is connected to fixed platform respectively, activity is put down for fixed platform, the movable platform for being fixedly connected on interconnecting piece free end and both ends
Six electric pushrods on platform.
2. robot wrist structure according to claim 1, it is characterised in that: in the movable platform, fixed platform
If there are three the hinged seat of distribution in equilateral triangle, the installation of the hinged seat on hinged seat and fixed platform in movable platform
Position interlocks two-by-two；Each hinged seat is all connected with two electric pushrods.
3. robot wrist structure according to claim 1, it is characterised in that: the lower end surface of the pedestal is equipped with control
Device, the controller are electrically connected with driving motor, pressure sensor, electric pushrod.
4. robot wrist structure according to claim 1, it is characterised in that: the inner end of the fixture block is laid with buffering
Layer, the buffer layer are rubber, silica gel or sponge.
5. robot wrist structure according to claim 1, it is characterised in that: the inner end of the fixture block is arc, described
Axis of the axis of arc perpendicular to pedestal.
6. robot wrist structure according to claim 1, it is characterised in that: the inner end of the fixture block is arc, described
The axis of arc is parallel to the axis of pedestal.
7. robot wrist structure according to claim 1, it is characterised in that: the inner end of the fixture block is plane, described
Plane is perpendicular to sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968603.9A CN109093597A (en) | 2018-08-23 | 2018-08-23 | A kind of robot wrist structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968603.9A CN109093597A (en) | 2018-08-23 | 2018-08-23 | A kind of robot wrist structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109093597A true CN109093597A (en) | 2018-12-28 |
Family
ID=64851095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810968603.9A Withdrawn CN109093597A (en) | 2018-08-23 | 2018-08-23 | A kind of robot wrist structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109093597A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270794A (en) * | 2019-08-02 | 2019-09-24 | 格力电器（芜湖）有限公司 | Pipe fitting welding crawl positioning device, welding method and water heater |
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| TWI763505B (en) * | 2020-06-29 | 2022-05-01 | 日商歐姆龍股份有限公司 | The joint structure of the robot |
-
2018
- 2018-08-23 CN CN201810968603.9A patent/CN109093597A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270794A (en) * | 2019-08-02 | 2019-09-24 | 格力电器（芜湖）有限公司 | Pipe fitting welding crawl positioning device, welding method and water heater |
| CN110270794B (en) * | 2019-08-02 | 2021-08-20 | 格力电器（芜湖）有限公司 | Pipe joint welding grabbing and positioning device, welding method and water heater |
| TWI763505B (en) * | 2020-06-29 | 2022-05-01 | 日商歐姆龍股份有限公司 | The joint structure of the robot |
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181228 |
|
| WW01 | Invention patent application withdrawn after publication |